DocumentCode
488281
Title
A Positive-Real Design for Robotic Manipulators
Author
Abdallah, C. ; Jordan, R.
Author_Institution
Department of Electrical Engineering and Computer Engineering, University of New Mexico, Albuquerque, NM, 87131 USA.
fYear
1990
fDate
23-25 May 1990
Firstpage
991
Lastpage
992
Abstract
In this paper, we show that feedback-linearization in conjunction with the passivity property of rigid robots can guarantee the robustness of the closed-loop robotic system despite large uncertainties in the inertia matrix. The approach may be extended to the case of uncertain velocity-dependent terms under additional assumptions.
Keywords
Awards Planning & Policy Committee; Control design; Control systems; Design engineering; Manipulators; Nonlinear equations; Robot control; Robust stability; Tellurium; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1990
Conference_Location
San Diego, CA, USA
Type
conf
Filename
4790887
Link To Document